MC73110 Advanced 3-Phase Motor Control IC Developer s Kit Manual

Transcription

1 MC70 Developer s Kit Manual MC70 Advanced -Phase Motor Control IC Developer s Kit Manual Performance Motion Devices, Inc. 80 Central Street Boxborough, MA 079 Revision., March 007

2 NOTICE This document contains proprietary and confidential information of Performance Motion Devices, Inc., and is protected by federal copyright law. The contents of this document may not be disclosed to third parties, translated, copied, or duplicated in any form, in whole or in part, without the express written permission of PMD. The information contained in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any form, by any means, electronic or mechanical, for any purpose, without the express written permission of PMD. Copyright by Performance Motion Devices, Inc. Magellan, ION, Magellan/ION, Pro-Motion, Pro-Motor, C-Motion, and VB-Motion are trademarks of Performance Motion Devices, Inc. ii MC70 Developer s Kit Manual

3 Warranty PMD warrants performance of its products to the specifications applicable at the time of sale in accordance with PMD s standard warranty. Testing and other quality control techniques are utilized to the extent PMD deems necessary to support this warranty. Specific testing of all parameters of each device is not necessarily performed, except those mandated by government requirements. Performance Motion Devices, Inc. (PMD) reserves the right to make changes to its products or to discontinue any product or service without notice, and advises customers to obtain the latest version of relevant information to verify, before placing orders, that information being relied on is current and complete. All products are sold subject to the terms and conditions of sale supplied at the time of order acknowledgement, including those pertaining to warranty, patent infringement, and limitation of liability. Safety Notice Certain applications using semiconductor products may involve potential risks of death, personal injury, or severe property or environmental damage. Products are not designed, authorized, or warranted to be suitable for use in life support devices or systems or other critical applications. Inclusion of PMD products in such applications is understood to be fully at the customer's risk. In order to minimize risks associated with the customer s applications, adequate design and operating safeguards must be provided by the customer to minimize inherent procedural hazards. Disclaimer PMD assumes no liability for applications assistance or customer product design. PMD does not warrant or represent that any license, either express or implied, is granted under any patent right, copyright, mask work right, or other intellectual property right of PMD covering or relating to any combination, machine, or process in which such products or services might be or are used. PMD s publication of information regarding any third party s products or services does not constitute PMD s approval, warranty or endorsement thereof. MC70 Developer s Kit Manual iii

4 Related Documents MC70 Advanced -Phase Motor Control IC Product Manual Electrical Specifications, Theory of Operations, and Command Reference for MC70 IC. iv MC70 Developer s Kit Manual

5 MC70 Developer s Kit Manual Table of Contents List of Figures vii. Product Overview Installation Software Documentation Connection Configurations Installation Sequence Required Hardware Preparing the Card for Installation Connecting to the Card Applying Power Software Installation First Time System Verification Using Pro-Motor Communication Axis Setup Wizard Main Window Storing Commands to Flash Memory Creating an EEPROM File Developing Applications with C-Motion Theory of Use MC70 Electrical Reference User-Settable Jumper Options Connecting to the Card Schematics Introduction Detailed Schematic Descriptions System Design Using the MC MC70 Developer s Kit Manual v

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7 MC70 Developer s Kit Manual List of Figures - MC70 functional diagram Internal switcher configuration Remote switcher configuration Location of MC70 board components Main window Interface, COM port Interface, serial port Axis Properties dialog Axis Setup Wizard opener Signal Output Settings Signal Status Registers Safety Settings Commutation Settings Velocity Integrator Loop Velocity Loop Current Loop Settings Motion Dynamics Settings Project window Axis item properties dialog Command window Select a Command window Output window EStop Safety window EStop Signals window Location of MC70 board components Function blocks Basic connection Conditioning circuitry Connectors Jumpers Communication ports Power train Current-sensing circuits On-board power supply Analog power supply Auxiliary circuits Alternate signal conditioning circuit MC70 Developer s Kit Manual vii

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9 MC70 Developer s Kit Manual. Product Overview MC70 Motor Control IC Navigator/Pilot Magellan Motion Cards Number of axes,,,,,,,, Package -pin TQFP -pin PQFP 00-pin PQFP -pin TQFP 00-pin TQFP PCI PC/0 Voltage. V V. V V Function Velocity control Torque control Commutation Encoder input Position control Encoder input Profile generation Commutation Position control Encoder input Profile generation Commutation Network communications Multi-motor Position control Encoder input Profile generation Commutation Signal conditioning Analog output Trace buffer Motor types Brushless DC DC brush Brushless DC Pulse & direction DC brush Brushless DC Pulse & direction DC brush Brushless DC Pulse & direction Communication Standalone Serial Parallel Serial point-to-point Serial multi-drop Parallel Serial point-to-point Serial multi-drop CANbus PCI, PC0 Loop rate 0 khz 00-0 µsec/axis 0-7 µsec/axis 0-7 µsec/axis The MC70 Motor Control IC is a single-chip, single-axis device ideal for use in intelligent three-phase brushless motor amplifiers. It provides sophisticated programmable digital current control with direct analog input of feedback signals. It can be operated in voltage, torque, or velocity modes. The MC70 also supports standalone operation for use with PMD s motion processors, other off-the-shelf servo controllers, or via a serial port. Navigator/Pilot-family Motion Processors provide programmable chip-based positioning control for DC brush, brushless DC, microstepping, and pulse & direction motors. They are available in -, -, and -axis configurations, and in both single-chip and dual-ic chipset configurations. These parts operate at V. Magellan-family Motion Processors are state-of-the-art programmable chip-based positioning controllers for DC brush, brushless DC, microstepping, and pulse & direction motors. They are similar to the Navigator Motion Processors, but provide increased capabilities including faster loop rate, CANBus communications, software-selectable motor type, and direct SPI bus output for serial DACs. They are available in,,, and -axis configurations, and in both single-chip and dual-ic chipset configurations. These parts operate at.v. PMD s PCI and PC/0-bus motion cards are high performance general purpose motion cards for controlling DC brush, brushless DC, microstepping, and pulse & direction motors. Utilizing PMD s Magellan Motion Processors, these products are available in,,, and axis configurations and have advanced features such as -bit D/A analog output, and on-board high-speed performance tracing. MC70 Developer s Kit Manual 9

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11 MC70 Developer s Kit Manual. Installation In This Chapter Software Documentation Connection Configurations Installation Sequence Required Hardware Preparing the Card for Installation Connecting to the Card Applying Power Software Installation First Time System Verification The PMD MC70 developer s kit is an integrated board and software package which serves as an electrical and software design tool for MC70-based systems. The major components of the kit are: Standalone MC70-based card with 0 Amp three-phase brushless motor amplifier Serial cable to communicate with PC CD-ROM containing C-Motion and Pro-Motor software programs MC70 product manual MC70 developer s kit manual. The developer s kit is a self-standing card supported by aluminum standoffs. The card measures.09" x.800" in size. The PCB board is FR- four-layer with -oz. copper, and a thickness of mil. It accepts a single power connection ranging from 8V to 8V, from which the card derives all required voltages via an on-board DC to DC converter device. During initial setup and operation, a serial cable connects the card to a PC, which runs PMD s Pro-Motor exerciser program. The serial port can be operated in point-to-point or multi-drop mode. The card may also be operated in standalone mode, without a serial port connection. In this mode, the card receives a command from an external motion controller via analog or digital hardware signals. When operated in standalone mode, MC70 parameters are loaded into the MC70 at power up via an on-board serial EEPROM which is installed in an 8-pin DIP socket located on the developer s kit card. The card drives a -phase brushless DC motor at up to 0 amps continuous current; amps peak. A wide range of motor inductances are supported. An on-card temperature sensor may be used to alert the user of an over-temperature condition on the amplifier. MC70 Developer s Kit Manual

12 Installation The following diagram provides an overview of the signal paths and functionality of the MC70 Developer s Kit card. Figure -: MC70 functional diagram V+ Serial port (RS or RS8) DC DC converter Serial conditioning.v V V V+ Serial EEPROM (optional) LEDs green - power red - amplifier enabled Temperature sense AnalogCmd SPI Clk SPI Data Estop Analog conditioning Digital conditioning MC70 A, B, C A, B, C (Hi, Lo) Pre-driver (Hi, Lo) AmplifierDisable Current feedback A, B MOSFETs ( ) Analog conditioning To coils A, B, C Quad conditioning Digital conditioning Analog conditioning Reset (button) Quad A, B, Index Hall sensors (A, B, C) Tachometer The MC70 Developer s Kit may be used for a number of purposes. For example: a ready-to-go system for exercising the MC70 a reference design for an MC70-based amplifier/drive a pre-production system with which the user s application may be developed, and motors may be tested a test system from which various switching power block sections may be tested. MC70 Developer s Kit Manual

13 . Software Two major software packages are provided with the MC70 developer s kit cards: Pro-Motor, an interactive Windows-based exerciser program, and C-Motion, a C-language library which simplifies the development of motion applications for MC70 developer s kit cards. Pro-Motor is a sophisticated, easy-to-use exerciser program which allows for the setting, viewing, and exercising of all card parameters and card features. Pro-Motor features include: A project window for accessing card parameters The ability to save and load current settings A motor-specific parameter setup A command window for direct text command entry A communications monitor which echoes all commands sent by Pro-Motor to the card. C-Motion provides a convenient set of callable routines comprising all code required for controlling the MC70 developer's kit card. C-Motion includes the following features: Axis virtualization The ability to communicate to multiple MC70 developer s kit cards Can be easily linked to any C/C++ application. Pro-Motor is described in Chapter, Using Pro-Motor. C-Motion is described in detail in Chapter, Developing Applications with C-Motion.. Documentation There are two manuals associated with the MC70 card. A brief description of each is listed below. Installation Component Name MC70 Product Manual MC70 Developer s Kit Manual Description This is the complete description of the MC70 IC. It includes electrical specifications, theory of operations, and a programmer s command reference. This document guides you through installation and operation developer s kit manual of the MC70 developer s kit. It describes the developer s kit card and software, and provides complete schematics for the card. To download these documents, or request that they be sent to you, visit the PMD website at or contact your PMD representative.. Connection Configurations There are two major connection configurations of the MC70 developer s kit. The first is internal switcher, and the second is remote switcher. Internal switcher: the developer s kit uses its internal 0 Amp continuous ( Amp peak) on-board MOSFET switchers and current sense circuitry to form a complete standalone intelligent amplifier card. This is the normal operating state of the system, and the most convenient to use when working with the MC70 developer s kit. Remote switcher: an external switching triple half-bridge and associated current sense and conditioning circuitry is installed. Section, Electrical Reference, page, provides complete details on the signals required to connect to an external amplifier. This configuration is useful for prototyping with a custom-designed amplifier for the purpose of verifying customized amplifier designs, or driving motors with a larger current capacity than 0 Amps continuous. MC70 Developer s Kit Manual

14 Installation The following diagrams illustrate these two configurations. Figure -: Internal switcher configuration Power J J Serial J7 or J MC70 Pre-driver and switcher J To motor CurrentA, B Host interface signals J J Motor feedback Figure -: Remote switcher configuration Power J J Remote switcher power Serial J7 or J MC70 J Pre-driver Switches () J J Host interface signals Motor feedback. Installation Sequence For a normal installation of a MC70 developer s kit card, the card will need to be configured for the connection configuration which will be used (internal or remote). Configuration of the MC70 developer s kit card is described in detail in Section., Preparing the Card for Installation. The first step is to connect the system s motors, encoders, amplifiers, and sensors as desired to operate the motion hardware. A description of available connections for the MC70 developer s kit card is found in Section.7, Connecting to the Card. Once this hardware configuration is complete, the software must be installed. Installation of the software is described in Section.9, Software Installation. MC70 Developer s Kit Manual

15 The final step of the installation is to perform a functional test of the finished system. This is described in Section.0, First Time System Verification. Once these steps have been performed, installation is complete, and the card is ready for operation. Installation. Required Hardware To operate the MC70 developer s kit card with Pro-Motor, the Windows-based exerciser program, you will need the following hardware: The recommended platform is an Intel (or compatible) processor, Pentium or better, MB of available disk space, MB of available RAM, and a CD-ROM drive. Supported PC operating systems are Windows 9X/ ME/NT/000/XP. A -phase Brushless DC Motor with Hall sensors and optional quadrature encoder feedback with index. Cables as required to connect to the MC70 developer s kit card to your motor, encoder, card power input, and to the analog or digital command signals. Additionally, you will connect the PC to the card via an included DB-9 cable. For complete descriptions of these connections see Section.7, Connecting to the Card.. Preparing the Card for Installation The following table shows the user-settable jumper options for the MC70 developer s kit card. For jumper locations, see Figure -. Jumper Jumper Setting Description JP, JP - Selects RS- communication using on-board transceiver. This is the default position of this jumper. - Selects RS-8 communication using user-provided daughtercard. For a complete description of the electrical requirements of this daughtercard, see Section.., RS8 Connector (J). - Reserved. JP JP - Reserved. Must be set to -. JP, JP7 - Selects use of on board amplifier/switcher. This is the default setting. - Selects use of remote amplifier/switcher. This setting is useful to verify custom amplifier design, or to connect to more powerful switching blocks. JP9, JP0 - Reserved. Must be set to -. In addition, the resistor pack should be installed; depending on whether single or differential quadrature encoders are used. Resistor Pack Setting Description J8 Installed; this is the default setting. Removed If differential connections are being used, leave the resistor pack installed. If single-ended encoder connections are being used, remove the resistor pack. MC70 Developer s Kit Manual

16 Installation Figure -: Location of MC70 board components J Motor J DC in J JP JP JP J7 RS JP JP J8 Reset U9 U8 U7 JP JP9 JP0 J J Motor feedback U U U0 MC70 Host J J9 JP7.7 Connecting to the Card There are a total of seven connectors whch may be used with the MC70 developer s kit card as follows. Connector Name Function J Power Provides operating power to the developer s kit card. J Motor feedback Inputs various motor-related signals. J RS-8 Provides communication to/from the card when a multi-drop RS8 is used. J Motor Provides high-voltage, high-current connections to the motor from the amplifier output. J Remote switcher Inputs and outputs various signals for use with a remote switching block. J Host Inputs and outputs various non-motor command and feedback signals to/from the developer s kit card. J7 Serial port Provides RS- communication to/from the card using an on-card transceiver driver chip. This connector is designed to interface without null-modem or other changes to a DB-9 PC serial port. MC70 Developer s Kit Manual

17 Here is a summary of the connector types expected for these seven connectors. Installation Connector Signal Type # Pins Type J High power Through-hole terminal block (screw connection). J Low-power digital & analog Right-angle single-row shrouded header (0.00 pitch friction lock header). J Low-power digital -in-line 0.00 pitch header. J High power Through-hole terminal block (screw connection). J Low-power digital & analog 8 x vertical header (mm pitch). J Low-power digital & analog Right-angle single-row shrouded header (0.00 pitch friction lock header). J7 Low-power digital 9 Side-facing D-sub 9 (female)..7. Initial Setup To initially set up the developer s kit card for checkout and verification, four connectors must be used J (power), J (motor feedback), J (motor), and J7 (serial port). In addition, the host connector (J) is frequently used during testing after initial setup, in which case the serial port becomes optional. The signal connections for these connectors are described in the following sections. For a complete description of all connectors, see Chapter, MC70 Electrical Reference..7. Power Connector (J) The power connector provides power to the card. All other voltages used by the card are derived from this central supply using an on-card DC-DC converter. The voltage provided at these connections matches the voltage at which the motor will be driven. The DK board is operable using a DC voltage source. If it is a regulated DC voltage source, sometimes a barrier diode is needed between the voltage source and DK board, or the voltage source could go into protection mode. If it is an unregulated DC voltage source, ensure that the output voltage of the unregulated DC voltage source meets the input voltage specifications of the DK board s operating range. Pin # Signal Description V+ 8 8V. Current capacity specification should be maximum motor drive + lamp (to power the card). PowerGnd Ground return for V+. MC70 Developer s Kit Manual 7

18 Installation.7. Motor Feedback Connector (J) The motor feedback connector inputs various motor-related signals to the developer s kit card. All these signals are low-power, low-voltage digital or analog signals. Note: on-board Hall signal buffers (see UA/B/C) invert the signal sense of the input signals. That is, if the Hall signal is asserted logic high, the MC70 will sense a logic low due to the inverter, U. Therefore, the signal sense for the Hall signals should be reversed by software when using the DK board. Pin # Signal Description +V This signal provides V. This is often useful for powering the encoder circuitry. GND This signal provides the digital return. QuadA+ This input signal provides the high side of the differential quadrature input for encoder phase A. For more information on connecting encoders see Section., Preparing the Card for Installation. If unused, this signal may remain unconnected. QuadA- This input signal provides the low side of the differential quadrature input for encoder phase A. When using a single-ended encoder, this pin should remain unconnected. For more information on connecting encoders see section., Preparing the Card for Installation, page. If unused, this signal may remain unconnected. QuadB+ This input signal provides the high side of the differential quadrature input for encoder phase B. For more information on connecting encoders see Section., Preparing the Card for Installation. If unused, this signal may remain unconnected. QuadB- This input signal provides the low side of the differential quadrature input for encoder phase B. When using a single-ended encoder, this pin should remain unconnected. For more information on connecting encoders see Section., Preparing the Card for Installation. If unused, this signal may remain unconnected. 7 Index+ This input signal provides the high side of the differential quadrature input for the Index signal. For more information on connecting encoders see Section., Preparing the Card for Installation. If unused, this signal may remain unconnected. 8 Index- This input signal provides the low side of the differential quadrature input for the Index signal. When using a single-ended encoder, this pin should remain unconnected. For more information on connecting encoders see Section., Preparing the Card for Installation. If unused, this signal may remain unconnected. 9 GND This signal provides the digital return. 0 HallA HallB HallC These signals are the Hall sensor inputs. For logic 0, the signal should be lower than 0.V; for logic, the signal should be greater than.v. TachIn+ This is the positive input signal for the analog tachometer signal. This signal represents the instantaneous speed of the motor. The input range is +/ 0V. If unused, this signal may remain unconnected. TachIn-(GND) This is the negative input for the analog tachometer signal. The input range is +/ 0V. If unused, this signal may remain unconnected. 8 MC70 Developer s Kit Manual

19 .7. Motor Connector (J) The motor connector provides the high-voltage three-phase outputs from the amplifier/switcher to the motor. The coil current into the motor is defined as positive. Installation Pin # Signal Description MotorC Leg of motor coil connections. MotorB Leg of motor coil connections. MotorA Leg of motor coil connections..7. Host Connector (J) The host connector inputs and outputs various non-motor related signals to/from the developer s kit card. Pin # Signal Description Estop This digital input provides an emergency stop signal to the developer s kit card. Although its function and interpretation are programmable, normally a high signal (greater than.v) indicates an emergency stop is not active; and a low signal (less than.v) indicates that it is active. If unused, this signal may remain unconnected. AmplifierDisable This digital output signal provides a programmable output signal which indicates the internal state of the MC70. Normally, a low output indicates an error, while a high signal indicates no error. In addition to being an output at this connector, this signal is also used internally by the MC70 developer s kit card to shut down the amplifier s switchers when the amplifier operates in internal switcher mode. NOTE: This output signal is.v CMOS. GND This signal provides a digital ground return. DigitalCmdClk This digital input signal provides the SPI datastream clock signal. NOTE: The maximum input voltage is.v. DigitalCmdData This digital input signal provides the SPI datastream data signal. NOTE: The maximum input voltage is.v. GND This signal provides a digital ground return. 7 +V This signal provides a V output to external circuitry. 8 9 n.c. 0 AnalogCmd+ This analog input signal provides the positive input of the analog command. Depending on how the MC70 s control loop has been programmed, this signal represents the desired voltage, torque, or velocity. The input range is ±0V. The reference input can be differential or single-ended. AnalogCmd- This analog input signal provides the negative input of the analog command. Depending on how the MC70 s control loop has been programmed, this signal represents the desired voltage, torque, or velocity. The input range is ±0V. The reference input can be differential or single-ended. When it is single-ended, AnalogCmd- must be connected to AGND, pin. AGND This signal provides an analog ground return. MC70 Developer s Kit Manual 9

20 Installation.7. Serial Port Connector (J7) The RS- serial connector provides communication to and from the card using an on-card transceiver driver chip. This connector is designed to interface without a null-modem or other changes to the DB-9 PC serial port. These signals are low-power, low-voltage digital or analog signals. Pin # Signal Description SrlXmt Serial transmit signal from the MC70 developer s kit transceiver chip. SrlRcv Serial receive signal to the MC70 developer s kit cards. GND Ground..8 Applying Power Once the jumpers and resistor packs have been configured, and the hardware is connected, installation is complete; and the developer s kit is ready for operation. Upon application of power through connector J, the card will be in a reset condition. Assuming that the flash hasn t been programmed, or that a serial EEPROM hasn t been installed, the MC70 will utilize its default values, and the motor should remain stationary. If the motors do move or jump, power down the card and check the amplifier and encoder connections. If anomalous behavior is still observed, call PMD or your distributor for application assistance..8. Card Reset and Reset button During card operations, if at any time you wish to reset the MC70, you can use the reset button indicated in diagram.- on page. Pressing the button will reset the controller..8. LED Status Indicators The MC70 developer s kit card has two LEDs to indicate the status of the board. When the card is powered up, the green power status LED should be illuminated. After the AmplifierDisable output pin is driven to an amplifier enabled condition, the red LED should also be illuminated. This is summarized in the following table. LED Color Name Function Green Power Status The green LED is on when the board is powered up and the.v is available. Red Amplifier Status The red LED is on when the amplifier is ready. It is controlled by the AmplifierDisable pin (pin ) of the MC70. Usually, the red LED will be off after power up. See Section.0, First Time System Verification, for more information..9 Software Installation Locate the CD-ROM which is included in the developer s kit. This CD contains software to exercise your board and source code for customization and development of motion applications. The exercise software is designed to work with Windows 9/98/ME/NT/000/XP. If the computer s autorun feature is enabled, the installation process will automatically begin when the CD-ROM is inserted into the CD drive. If autorun is not enabled, go to Start/Programs/Accessories/Windows Explorer, and browse to the system s CD-ROM drive. Double-click the file labelled setup.exe, and the installation process will begin. Installation can also be initiated by going to Start/Run, and in the Open text box, type D:\setup.exe (where D: 0 MC70 Developer s Kit Manual

21 is the drive letter of the CD-ROM drive), and click OK. The installation program will guide you through installing the software. Upon completion of the installation process, the following components will be installed: Pro-Motor an application for communicating to and exercising the installed developer s kit. Refer to Chapter, Using Pro-Motor, for operating instructions. C-Motion source code that can be used for developing customized motion applications based on the MC70. Refer to Chapter, Developing Applications with C-Motion, for further information. These files are installed in the C-Motion folder, a subfolder of the installation folder. PDF versions of the developer s kit manual, programmer s reference and user s guide. Adobe Reader is required for viewing and printing these files. If Adobe Reader is not installed, it may be downloaded at no charge from Installation.0 First Time System Verification After the card hardware has been installed, the appropriate motor connections have been made, and software installation is complete, it s time to perform a simple test which will verify that all connections are correct. The following procedure should work for the majority of brushless motors, even if the gain parameters may not be optimized for your particular motor. Note that at any time the Pause/Break key can be pressed to disable the servo loops and motor output in case the motor begins to move erratically or uncontrollably. Run Pro-Motor by double-clicking the Pro-Motor icon on the desktop. If Pro-Motor cannot find the DK board, re-check the serial port connections, select the appropriate COM port in the Interface dialog, and click OK. Accept the default serial port settings by clicking OK. Refer to section. Communication for more information. The Axis Wizard should start automatically to lead you through the setup and initialization step. See Chapter, Using Pro-Motor, for more information on using the Axis Wizard. If unexpected motion occurs, the Pause/Break key can be hit to reset the MC70 and disable the motor. MC70 Developer s Kit Manual

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23 MC70 Developer s Kit Manual. Using Pro-Motor In This Chapter Communication Axis Wizard Main Window Storing Commands to Flash Memory Creating an EEPROM File The Pro-Motor program facilitates the exercising of the MC70. All chip parameters can be viewed and modified via standard Windows controls. Pro-Motor features: Project window for accessing MC70 parameters via properties dialog boxes. Command window for direct text command entry. Communications monitor that echoes all commands sent by Pro-Motor to the MC70. Figure -: Main window MC70 Developer s Kit Manual

24 Using Pro-Motor. Communication When Pro-Motor is launched, it will attempt to connect to the DK board via the serial port using the default serial port settings. If it cannot communicate to the DK board (or File/New is selected), the Interface selection dialog is displayed. Verify that the interface is set to COM port, and that the selected port is the one to which the DK board is attached. Figure -: Interface, COM port If the serial interface (COM port) is selected in the Interface selection dialog, the serial communication configuration screen is displayed. Figure -: Interface, serial port Verify that the serial cable is connected from the host computer s COM port to the DK board. Set the serial interface parameters according to the default settings of 700, None,, Point to point, 0. Click OK to attempt a connection and proceed to the Axis Setup Wizard. If no connection is made, the Interface selection dialog will be displayed again; allowing you to modify the interface parameters or run in demo mode. MC70 Developer s Kit Manual

25 . Axis Setup Wizard Using Pro-Motor Once communication has been established with the DK board, the connected motors may be put in motion by setting the appropriate Axis parameters. When Pro-Motor is run for the first time, the Axis Setup Wizard will automatically start to configure the axis. The Axis Wizard can also be selected from the View menu at any time. To continue through the configuration process for all of the axis parameters, click Next. To accept the default values, click Cancel. Individual Axis settings may be modified at any time via Pro-Motor s Axis Properties dialog box, which is accessed by right-clicking an Axis icon in the Project window and selecting Properties. Figure -: Axis Properties dialog The Axis Setup Wizard may be re-run at any time by selecting Axis Wizard from Pro-Motor s View menu. Figure -: Axis Setup Wizard opener MC70 Developer s Kit Manual

26 Using Pro-Motor.. Step : Signal Output Settings On the Signal Output Settings page of the wizard, select the appropriate PWM output mode, PWM limit, PWM dead time and PWM output logic for the amplifier connected to the MC70. The power on default settings are shown below. If you are using the DK board, the PWM dead time should be reduced to a value of, which translates to. µs. The PWM Output Logic should be left as active low (unchecked) when using the on-board amplifier. Figure -: Signal Output Settings.. Step : Initialize Signal Sensing This step of the Axis Setup Wizard is used to select the Signal Sense parameters. The default signal sense is active low. Users should check the Invert sense checkbox in the first column for any input signals which are active high. The Event status column displays and resets the event status bits. The Activity status column displays the activity status bits. The controls in this dialog are continually updated. Figure -7: Signal Status Registers MC70 Developer s Kit Manual

27 .. Step : Safety Settings This step of the Axis Setup Wizard is used to set the Safety parameters. The settings as shown in Figure -8 will:. Disable the amplifier if the temperature exceeds 0 C or the Emergency stop signal is set. This particular configuration will latch the amplifier as disabled, because the Amplifier Disable Source is set to Amplifier error, which is latched in the Event Status register (see Section.., Step : Initialize Signal Sensing ).. Disable the servo loop if the Motion error exceeds Using Pro-Motor Figure -8: Safety Settings Refer to the MC70 Product Manual for further information on these settings... Step : Commutation This step of the Axis Setup Wizard is used to set the Commutation parameters. If the Commutation mode is set to Sinusoidal, the motor will commutate in hall-based mode until a hall signal transition occurs. The phase angle parameter is read-only and cannot be set in the dialog box. However, it can be set in the command window using the SetPhaseAngle command. Please see the MC70 Product Manual for further information on phase initialization. Figure -9: Commutation Settings MC70 Developer s Kit Manual 7

28 Using Pro-Motor... Step a: Check Commutation The commutation may be verified by running the motor in open loop mode. Set the motor command parameter to a low value between % and %; bearing in mind that the motor may start to move at a rate proportional to the motor command setting. Click the Open loop start button. If the motor is commutating properly, a smooth, continuous motion should occur in a single direction. Click the Stop button to stop motion. If the motor does not move or motion is erratic, verify that Phase counts and signal sense is set correctly. The signal sense can be accessed by going back to the Signals page... Step : Velocity Integrator Loop Parameters This step of the Axis Setup Wizard is used to select the Velocity Integrator Loop parameters. Figure -0: Velocity Integrator Loop.. Step : Velocity Loop Parameters This step of the Axis Setup Wizard is used to select the Velocity Loop parameters. Figure -: Velocity Loop 8 MC70 Developer s Kit Manual

29 ..7 Step 7: Current Loop Parameters This step of the Axis Setup Wizard is used to select the Current Loop parameters. Using Pro-Motor Figure -: Current Loop Settings..8 Step 8: Miscellaneous Settings The Miscellaneous Settings page contains the parameters for controlling the servo loops and motor dynamics. The power-on default settings are shown in the following figure. When Motor Mode is off, all the loops are disabled (open loop mode) and Motor command controls the motor speed. The dynamics settings have no effect in this mode. When the command source is set to Analog, the command for the velocity or current loops originates from the analog input signal. When set to SPI, the command for the velocity or current loops is a -bit value read from the incoming SPI data stream. When set to Profile Generator, the command is generated internally based on the Velocity and Acceleration parameters. Click the Finish button to update the motion processor parameters. Figure -: Motion Dynamics Settings MC70 Developer s Kit Manual 9

30 Using Pro-Motor. Main Window The main window is comprised of three subwindows: the project window, the command window and the output window. The workspace and output windows are control bars which can be docked and resized at any location in the main window, or undocked and moved anywhere on the desktop. They can be closed by clicking the X. To re-display them, select the appropriate View menu item. The following keyboard shortcuts can be used at any time. the Pause/Break key will disable the servo loops and motor output by setting MotorMode to 0 and Motor- Command to 0. the Scroll Lock key will start and stop the output window from displaying communication activity... Project Window Figure -: Project window The Project window displays the available DK boards and axes in a tree format. Double-clicking a board or axis icon will display the properties dialog for that item. Figure -: Axis item properties dialog 0 MC70 Developer s Kit Manual

31 .. Command Window Using Pro-Motor Figure -: Command window The Command window in Pro-Motor allows commands to be issued directly to the MC70. The window has a command line style interface which accepts all of the MC70 commands. The MC70 Programmer s Reference contains a full list of commands, along with their required parameters. The command window presents you with the command prompt >. The following sequence shows a typical command session. > Reset Processor reset > SetSignalSense 0x80 > SetPWMDeadTime > SetPhaseCounts 000 > SetLoopGain 0x0 0 > SetLoopGain 0x0 00 > SetLoopGain 0x > SetVelocityScalar 000 The Command window is not case-sensitive, so commands may be entered in any combination of upper- and lowercase characters. As shown in the preceding example, commands are entered as a sequence of command name followed by up to two numeric parameters. Parameters can represent a single -bit word of data, or a -bit double word of data; depending on the requirements of the particular command. > SetLoopGain 00 In this example, the first parameter represents a -bit word containing the selected loop gain, and the second parameter represents a -bit word that contains the loop gain value. All of the Get commands display the value returned by the chipset. > GetEventStatus 0x009 Some commands require a parameter for selecting the desired value. > GetLoopGain 000 In this example, selects the loop gain number for which the value is retrieved. The Command window accepts numeric parameters in either decimal or hexadecimal format. Prefixing a numeric parameter with 0x enters that number using hexadecimal format. > GetLoopGain 0x0 000 MC70 Developer s Kit Manual

32 Using Pro-Motor Pressing the Tab key at any time will display a list of available commands, based upon what is already typed in the command window. If nothing is typed in the command window, then all of the available commands are displayed. For example, typing geta in the command window will invoke a list containing all the commands beginning with geta. Figure -7: Select a Command window The command window also supports two useful keyboard shortcuts the UP and DOWN arrows can be used to scroll through previously executed commands. CTRL-R will repeat the last executed command... Output Window The Output window displays the stream of commands sent to the MC70. Any communication errors will also be displayed in this window. Figure -8: Output window. Storing Commands to Flash Memory As mentioned in the MC70 Product Manual, the AmpDisable condition mask must be active when storing commands to flash. If the red LED on the DK board is on, then the AmpDisable condition mask is inactive and must be changed. The simplest way to achieve this is to force the AmpDisable condition mask to look at the Emergency Stop input. Make sure to press the APPLY button. MC70 Developer s Kit Manual

33 Using Pro-Motor Figure -9: EStop Safety window Next, the interpretation (active high vs. active low) of the Emergency Stop input can be changed. With nothing connected to the Emergency Stop input, the input will be high, which by default is inactive. Selecting the Emergency Stop checkbox in the Signals tab will cause the Emergency Stop input to be interpreted as active high. After doing so the AmpDisable condition mask should now be active, and the red LED should be off. Figure -0: EStop Signals window In the File menu is a Store Commands in Flash item that can now be selected. This will cause all parameter values currently in Pro-Motor to be stored in the user Flash space on the MC70. When complete, a reset will occur. The values in Flash will be read and will become the active configuration.. Creating an EEPROM File The Pro-Motor File menu has a Create EEPROM File item. This will create an EEPROM file on your PC that contains all parameter values currently active in Pro-Motor. This file can be loaded into standard EEPROM programming software. MC70 Developer s Kit Manual

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35 MC70 Developer s Kit Manual. Developing Applications with C-Motion In This Chapter Theory of Use C-Motion is a C source code library containing all the code required for communicating with the motion control processor using the serial interface. C-Motion includes the following features: Axis virtualization The ability to communicate to multiple PMD motion processors Can be easily linked to any C/C++ application Supports serial communication. The following files comprise the C-Motion distribution. C-Motion.h/C-Motion.c PMDwser.h/PMDwser.c PMDtrans.h/PMDtrans.c PMDecode.h PMDocode.h PMDtypes.h PMDDiag.h/PMDdiag.c PMDconio.h/PMDconio.c Definition/declaration of the processor command set. Windows serial communication interface functions. Generic transport (interface) functions. Defines the processor and C-Motion error codes. Defines the control codes for processor commands. Defines the basic types required by C-Motion. Diagnostic utility functions Console I/O wrapper functions C-Motion may be linked to your application code by including the above C source files in your application. Then, for any application source file requiring access to the motion processor, #include C-Motion.h.. Theory of Use C-Motion is a set of functions encapsulating the motion processor command set. Every command has as its first parameter an axis handle. The axis handle is a structure containing information about the interface to the motion processor, and the axis number that the handle represents. Before communicating to the motion processor, the axis handle must be initialized using the following sequence of commands. // the axis handle PMDAxisHandle handle; // open serial interface to PMD processor and initialize handle to axis one PMDSetupAxisInterface_Serial( &handle, PMDAxis, ); // COM Once the axis handle has been initialized, any of the motion processor commands may be executed. C-Motion.h includes the prototypes for all motion processor commands as implemented in C-Motion. Refer to this file for the required parameters for each command. The MC70 Product Manual is the primary source for information about the operation and purpose of each command. MC70 Developer s Kit Manual

36 Developing Applications with C-Motion Every C-Motion processor command returns a status code of type PMDresult. The return code for every command executed should be checked before attempting to execute more commands. PMDresult result,status; result = PMDSetVelocity(&handle, 00000); if (result!= PMD_ERR_OK) { } printf( Error: %s\n, PMDGetErrorMessage(result)); return; Many commands require additional parameters. Some standard values are defined by C-Motion and can be used with the appropriate commands. Refer to PMDtypes.h for a complete list of defined types. A C-Motion function call with the pre-defined types is shown in the following example. PMDSetConditionMask(&handle, PMDConditionMaskAmpDisable, PMDConditionOverTemp); In addition to the processor commands, C-Motion provides several support functions. A subset of these are: void PMDCloseAxisInterface(PMDAxisHandle* axis_handle); This should be called to terminate an interface connection. char *PMDGetErrorMessage(PMDresult errorcode); This returns a character string representation of the corresponding PMD chip or C-Motion error code. void GetCMotionVersion(PMDuint8* MajorVersion, PMDuint8* MinorVersion); This returns the major and minor version number of C-Motion. MC70 Developer s Kit Manual

37 MC70 Developer s Kit Manual. MC70 Electrical Reference InThis Chapter User-Settable Jumper Options Connecting to the Card. User-Settable Jumper Options The following table shows the user-settable jumper options for the MC70 developer s kit card. For jumper locations, see Figure -. Jumper Jumper Setting Description JP, JP - Selects RS- communication using the on-board transceiver. This is the default position of this jumper. - Selects RS-8 communication using a user-provided daughtercard. For a complete description of the electrical requirements of this daughtercard, see Section.., RS8 Connector (J). - Reserved. JP-JP - Reserved; must be set to -. JP, JP7 - Selects the use of the on board amplifier/switcher. This is the default setting. - Selects the use of a remote amplifier/switcher. This setting is useful to verify custom amplifier design, or to connect to more powerful switching blocks. JP9, JP0 - Reserved; must be set to -. In addition, the following resistor pack should be installed; dependant upon the use of single or differential quadrature encoders. Resistor Pack How to Set Description J8 Installed this is the default setting Removed If you are using differential connections, leave the resistor pack installed. If you are using single-ended encoder connections, remove the resistor pack. MC70 Developer s Kit Manual 7